Коммит 576b6a9a создал по автору Ilya Portnov's avatar Ilya Portnov
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Curve api update.

владелец 1edd0592
Скрыть пробелы
Построчно Рядом
utils/curve/core.py
Просмотр файла @ 576b6a9a
......@@ -464,27 +464,27 @@ class SvConcatCurve(SvCurve):
points_grouped = [self.curves[i].evaluate_array(np.array(dts)) for i, dts in dts_grouped]
return np.concatenate(points_grouped)
def tangent(self, t):
return self.tangent_array(np.array([t]))[0]
def tangent(self, t, tangent_delta=None):
return self.tangent_array(np.array([t]), tangent_delta=tangent_delta)[0]
def tangent_array(self, ts):
def tangent_array(self, ts, tangent_delta=None):
dts_grouped = self._get_ts_grouped(ts)
tangents_grouped = [self.curves[i].tangent_array(np.array(dts)) for i, dts in dts_grouped]
tangents_grouped = [self.curves[i].tangent_array(np.array(dts), tangent_delta=tangent_delta) for i, dts in dts_grouped]
return np.concatenate(tangents_grouped)
def second_derivative_array(self, ts):
def second_derivative_array(self, ts, tangent_delta=None):
dts_grouped = self._get_ts_grouped(ts)
vectors = [self.curves[i].second_derivative_array(np.array(dts)) for i, dts in dts_grouped]
vectors = [self.curves[i].second_derivative_array(np.array(dts), tangent_delta=tangent_delta) for i, dts in dts_grouped]
return np.concatenate(vectors)
def third_derivative_array(self, ts):
def third_derivative_array(self, ts, tangent_delta=None):
dts_grouped = self._get_ts_grouped(ts)
vectors = [self.curves[i].third_derivative_array(np.array(dts)) for i, dts in dts_grouped]
vectors = [self.curves[i].third_derivative_array(np.array(dts), tangent_delta=tangent_delta) for i, dts in dts_grouped]
return np.concatenate(vectors)
def derivatives_array(self, n, ts):
def derivatives_array(self, n, ts, tangent_delta=None):
dts_grouped = self._get_ts_grouped(ts)
derivs = [self.curves[i].derivatives_array(n, np.array(dts)) for i, dts in dts_grouped]
derivs = [self.curves[i].derivatives_array(n, np.array(dts), tangent_delta=tangent_delta) for i, dts in dts_grouped]
result = []
for i in range(n):
ith_derivs_grouped = [curve_derivs[i] for curve_derivs in derivs]
......@@ -774,7 +774,7 @@ class SvTaylorCurve(SvCurve):
denom *= (i+2)
return result
def tangent(self, t):
def tangent(self, t, tangent_delta=None):
result = np.array([0, 0, 0])
denom = 1
for i, vec in enumerate(self.derivatives):
......@@ -782,7 +782,7 @@ class SvTaylorCurve(SvCurve):
denom *= (i+2)
return result
def tangent_array(self, ts):
def tangent_array(self, ts, tangent_delta=None):
n = len(ts)
result = np.zeros((n, 3))
denom = 1
......@@ -792,10 +792,10 @@ class SvTaylorCurve(SvCurve):
denom *= (i+2)
return result
def second_derivative(self, t):
def second_derivative(self, t, tangent_delta=None):
return self.second_derivative_array(np.array([t]))[0]
def second_derivative_array(self, ts):
def second_derivative_array(self, ts, tangent_delta=None):
n = len(ts)
result = np.zeros((n, 3))
denom = 1
......@@ -806,7 +806,7 @@ class SvTaylorCurve(SvCurve):
denom *= (i+2)
return result
def third_derivative_array(self, ts):
def third_derivative_array(self, ts, tangent_delta=None):
n = len(ts)
result = np.zeros((n, 3))
denom = 1
......
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